Drawing_Match/glWidget_simple.py

import sys
import numpy as np
from PyQt5.QtWidgets import QApplication, QOpenGLWidget, QVBoxLayout, QWidget
from PyQt5.QtCore import Qt, pyqtSignal
from OpenGL.GL import *
from OpenGL.GLU import *
from OpenGL.GLUT import glutBitmapCharacter, glutStrokeCharacter, GLUT_BITMAP_HELVETICA_18, GLUT_BITMAP_TIMES_ROMAN_24  # GLUT_BITMAP_HELVETICA_18是运行时调用，标红正常


class Simple3DWidget(QOpenGLWidget):
    pointPicked = pyqtSignal(float, float, float)

    def __init__(self, parent=None):
        super().__init__(parent)
        self.vertices = np.array([])  # 顶点数据
        self.colors = np.array([])  # 颜色数据
        self.triangles = np.array([], dtype=np.int32)  # 三角面数据 ← 新增
        self.normals = np.array([])  # 法线数据 ← 新增

        self.rotation = [0.0, 0.0]  # 旋转角度 [俯仰, 偏航]
        self.zoom = -5.0  # 视距（负值表示拉远）
        self.pan = [0.0, 0.0]  # 平移偏移 [x, y]
        self.last_mouse_pos = None  # 鼠标位置
        self.setMouseTracking(True)  # 启用鼠标跟踪
        self.display_mode = 'points'  # 默认显示模式: 点云
        self.axes_display_mode = False
        self.axes_world_display_mode = True

        # 🔧 模型变换
        self.model_rotation = [0.0, 0.0]  # 模型的 [俯仰, 偏航]
        self.model_pan = [0.0, 0.0]  # 模型平移 (x, y)
        self.model_scale = 1.0  # 模型缩放

        # 🎯 视角（世界）变换
        self.view_rotation = [0.0, 0.0]  # 模型的 [俯仰, 偏航]
        self.view_pan = [0.0, 0.0]  # 视点平移 (X, Y)，用于 Ctrl+右键
        self.view_distance = 8.0  # 视点到目标的距离



    def initializeGL(self):
        """初始化 OpenGL 状态"""
        print("✅ 3D OpenGL 初始化")
        glEnable(GL_DEPTH_TEST)
        glEnable(GL_COLOR_MATERIAL)
        glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
        glEnable(GL_LIGHT0)
        glLightfv(GL_LIGHT0, GL_POSITION, (1.0, 1.0, 1.0, 0.0))  # 平行光
        glClearColor(0.1, 0.1, 0.1, 1.0)

    def resizeGL(self, width, height):
        """窗口大小改变时调用"""
        print(f"✅ 调整大小: {width}x{height}")
        if height == 0:
            height = 1
        glViewport(0, 0, width, height)
        self.update()  # 重新绘制

    def paintGL(self):
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
        glEnable(GL_DEPTH_TEST)

        glMatrixMode(GL_PROJECTION)
        glLoadIdentity()
        gluPerspective(45, self.width() / max(self.height(), 1), 0.1, 100.0)

        glMatrixMode(GL_MODELVIEW)
        glLoadIdentity()

        # ✅ 使用 gluLookAt 构建轨道摄像机
        # 视角参数
        yaw = self.view_rotation[1]  # 偏航角（左右）
        pitch = self.view_rotation[0]  # 俯仰角（上下）
        distance = self.view_distance

        # 1. 计算摄像机位置（绕原点轨道）
        radius = distance
        cam_x = radius * np.cos(np.radians(yaw)) * np.cos(np.radians(pitch))
        cam_y = radius * np.sin(np.radians(pitch))
        cam_z = radius * np.sin(np.radians(yaw)) * np.cos(np.radians(pitch))

        # 2. 目标点 = 世界原点 (0,0,0)
        target_x, target_y, target_z = 0.0, 0.0, 0.0

        # 3. 上方向（防止翻滚）
        up_x, up_y, up_z = 0.0, 1.0, 0.0

        # ✅ 设置摄像机（绕原点轨道旋转）
        gluLookAt(
            cam_x, cam_y, cam_z,  # 摄像机位置
            target_x, target_y, target_z,  # 看向目标（世界原点）
            up_x, up_y, up_z  # 上方向
        )

        # ✅ 应用视点平移（Ctrl+右键平移）
        glTranslatef(self.view_pan[0], self.view_pan[1], 0)

        # ✅ 绘制世界坐标系（在原点）
        if self.axes_world_display_mode:
            self.drawWorldAxes()

        # ✅ 模型变换
        glPushMatrix()
        glTranslatef(self.model_pan[0], self.model_pan[1], 0)
        glRotatef(self.model_rotation[0], 1, 0, 0)
        glRotatef(self.model_rotation[1], 0, 1, 0)
        glScalef(self.model_scale, self.model_scale, self.model_scale)

        if self.axes_display_mode:
            self.drawModelAxes()

        self._draw_model()

        glPopMatrix()

    def _draw_model(self):
        """私有方法：绘制模型"""
        if self.display_mode == 'points' and len(self.vertices) > 0:
            glPointSize(8.0)
            glBegin(GL_POINTS)
            for i, v in enumerate(self.vertices):
                if i < len(self.colors):
                    glColor3f(*self.colors[i])
                glVertex3f(v[0], v[1], v[2])
            glEnd()

        elif self.display_mode == 'surface' and len(self.triangles) > 0:
            glEnable(GL_LIGHTING)
            glEnable(GL_LIGHT0)
            glBegin(GL_TRIANGLES)
            for tri in self.triangles:
                for idx in tri:
                    if len(self.normals) > idx:
                        n = self.normals[idx]
                        if not np.any(np.isnan(n)) and not np.any(np.isinf(n)):
                            glNormal3f(*n)
                    if len(self.colors) > idx:
                        glColor3f(*self.colors[idx])
                    glVertex3f(*self.vertices[idx])
            glEnd()
            glDisable(GL_LIGHTING)


    def renderText(self, x, y, z, text):
        """
        在指定的三维坐标位置渲染文本。

        :param x: X轴坐标
        :param y: Y轴坐标
        :param z: Z轴坐标
        :param text: 要渲染的文本内容
        """
        glRasterPos3f(x, y, z)  # 设置文本位置
        for ch in text:
            glutBitmapCharacter(GLUT_BITMAP_TIMES_ROMAN_24, ord(ch))  # 渲染每个字符

    def drawWorldAxes(self):
        """绘制固定的世界坐标系（左下角）"""
        glPushMatrix()
        # 移动到左下角
        glTranslatef(-4.0, -4.0, -5.0)

        glLineWidth(2.0)
        glBegin(GL_LINES)
        # X (红)
        glColor3f(1, 0, 0)
        glVertex3f(0, 0, 0);
        glVertex3f(1000, 0, 0)
        # Y (绿)
        glColor3f(0, 1, 0)
        glVertex3f(0, 0, 0);
        glVertex3f(0, 1000, 0)
        # Z (蓝)
        glColor3f(0, 0, 1)
        glVertex3f(0, 0, 0);
        glVertex3f(0, 0, 1000)
        glEnd()

        # 绘制文本标签
        glColor3f(1.0, 0.0, 0.0)  # 设置颜色为红色
        self.renderText(1.5, 0, 0, 'X')  # X轴标签

        glColor3f(0.0, 1.0, 0.0)  # 设置颜色为绿色
        self.renderText(0, 1.5, 0, 'Y')  # Y轴标签

        glColor3f(0.0, 0.0, 1.0)  # 设置颜色为蓝色
        self.renderText(0, 0, 1.5, 'Z')  # Z轴标签

        glPopMatrix()

    def drawModelAxes(self):
        """绘制随模型移动的坐标系"""
        glPushMatrix()
        glLineWidth(2.5)
        glBegin(GL_LINES)
        # X
        glColor3f(1, 0, 0)
        glVertex3f(0, 0, 0);
        glVertex3f(2, 0, 0)
        # Y
        glColor3f(0, 1, 0)
        glVertex3f(0, 0, 0);
        glVertex3f(0, 2, 0)
        # Z
        glColor3f(0, 0, 1)
        glVertex3f(0, 0, 0);
        glVertex3f(0, 0, 2)
        glEnd()

        # 绘制文本标签
        glColor3f(1.0, 0.0, 0.0)  # 设置颜色为红色
        self.renderText(1.5, 0, 0, 'X')  # X轴标签

        glColor3f(0.0, 1.0, 0.0)  # 设置颜色为绿色
        self.renderText(0, 1.5, 0, 'Y')  # Y轴标签

        glColor3f(0.0, 0.0, 1.0)  # 设置颜色为蓝色
        self.renderText(0, 0, 1.5, 'Z')  # Z轴标签

        glPopMatrix()

        # if hasattr(self, 'model_scale'):
        #     glScalef(self.model_scale, self.model_scale, self.model_scale)

    # def paintGLAxes(self):
    #     """绘制坐标轴"""
    #     glLineWidth(3.0)
    #     glBegin(GL_LINES)
    #     # X轴 - 红色
    #     glColor3f(1.0, 0.0, 0.0)
    #     glVertex3f(0.0, 0.0, 0.0)
    #     glVertex3f(100.0, 0.0, 0.0)
    #
    #     # Y轴 - 绿色
    #     glColor3f(0.0, 1.0, 0.0)
    #     glVertex3f(0.0, 0.0, 0.0)
    #     glVertex3f(0.0, 100.0, 0.0)
    #
    #     # Z轴 - 蓝色
    #     glColor3f(0.0, 0.0, 1.0)
    #     glVertex3f(0.0, 0.0, 0.0)
    #     glVertex3f(0.0, 0.0, 100.0)
    #     glEnd()
    #
    #     # 绘制文本标签
    #     glColor3f(1.0, 0.0, 0.0)  # 设置颜色为红色
    #     self.renderText(1.5, 0, 0, 'X')  # X轴标签
    #
    #     glColor3f(0.0, 1.0, 0.0)  # 设置颜色为绿色
    #     self.renderText(0, 1.5, 0, 'Y')  # Y轴标签
    #
    #     glColor3f(0.0, 0.0, 1.0)  # 设置颜色为蓝色
    #     self.renderText(0, 0, 1.5, 'Z')  # Z轴标签

    def set_data(self, vertices, colors, triangles=None, normals=None):
        """设置 3D 数据（支持 mesh）"""
        self.vertices = np.array(vertices, dtype=np.float32)
        self.colors = np.array(colors, dtype=np.float32)

        if triangles is not None:
            self.triangles = np.array(triangles, dtype=np.int32)
        else:
            self.triangles = np.array([])

        if normals is not None:
            self.normals = np.array(normals, dtype=np.float32)
        else:
            self.normals = np.array([])

        print(f"✅ 设置数据: {len(self.vertices)} 个顶点, {len(self.triangles)} 个三角面")
        self.update()

    def mousePressEvent(self, event):
        self.last_mouse_pos = event.pos()

    def mouseMoveEvent(self, event):
        if self.last_mouse_pos is None:
            return

        dx = event.x() - self.last_mouse_pos.x()
        dy = event.y() - self.last_mouse_pos.y()

        is_ctrl = event.modifiers() & Qt.ControlModifier

        if event.buttons() & Qt.LeftButton:
            if is_ctrl:
                # Ctrl + 左键：旋转世界（视角）
                self.view_rotation[0] += dy * 0.5  # 俯仰
                self.view_rotation[1] += dx * 0.5  # 偏航
                self.view_rotation[0] = max(-89.0, min(89.0, self.view_rotation[0]))
            else:
                # 左键：旋转模型
                self.model_rotation[0] += dy * 0.5
                self.model_rotation[1] += dx * 0.5

        elif event.buttons() & Qt.RightButton:
            if is_ctrl:
                # Ctrl + 右键：平移世界（视点平移）
                self.view_pan[0] += dx * 0.01
                self.view_pan[1] -= dy * 0.01
            else:
                # 右键：平移模型
                self.model_pan[0] += dx * 0.01
                self.model_pan[1] -= dy * 0.01

        self.last_mouse_pos = event.pos()
        self.update()

    def wheelEvent(self, event):
        delta = event.angleDelta().y()
        self.view_distance -= delta * 0.05
        self.view_distance = max(1.0, min(50.0, self.view_distance))
        self.update()

    def toggle_display_mode(self):
        """切换显示模式：点云 <-> 表面"""
        if self.display_mode == 'points':
            self.display_mode = 'surface'
        else:
            self.display_mode = 'points'
        self.update()  # 切换模式后重新绘制

    def toggle_axes_display_mode(self):
        "切换坐标系显示模式"
        if self.axes_display_mode == False:
            self.axes_display_mode = True
        else:
            self.axes_display_mode = False
        self.update()